Method, apparatus and system of providing communication coverage to an unmanned aerial vehicle

ABSTRACT

The systems and methods are provided to provide communication coverage to an unmanned aerial vehicle. A proposed flight path of a UAV may be collected, and a communication signal distribution, such as a cellular signal distribution, along the proposed flight of the UAV may be determined. At positions having low or no communication signal, relays may be provided to improve a quality of the communication signal. The relay may be a ground device or an aerial vehicle. A stable and continuous communication between the UAV and user terminals during the entire flight path of UAV may be provided, and a coverage of cellular signal may be expanded.

CROSS-REFERENCE

This application is a continuation of International Application No.PCT/CN2015/076335, filed on Apr. 10, 2015. The above-referencedapplication is hereby incorporated by reference.

BACKGROUND

Aerial vehicles, such as unmanned aerial vehicles (UAVs), have beendeveloped for a wide range of applications including surveillance,search and rescue operations, exploration, and other fields. Such UAVscan carry onboard cameras to capture still images and video images.

It may be desirable for the UAV to have a continuous access to a userterminal or a network during the flight. The user terminal may be aremote controller or a ground terminal. However, a conventionaldedicated link between the UAV and user terminal may not guarantee astable and continuous communication during the whole flight.

SUMMARY

Systems and methods are provided for providing communication coverage toa UAV by disposing relays based on a flight plan of the UAV. Intraditional UAV communication systems, a dedicated link may beestablished between the UAV and user terminals such as a remotecontroller or a ground station. However, a quality and safety ofcommunication over this dedicated link may not be guarantee due to thefact that an un-licensed frequency band is employed. Furthermore, thetraditional UAV communication systems may not benefit from the rapiddevelopment of cellular communication such as 4G (i.e., the fourthgeneration of mobile communications technology) because a strength ofcellular signal may rapidly deteriorate above a certain altitude in theair, leading to an unstable communication between the UAV and userterminals over cellular network. Accordingly, a need exists forproviding a stable and continuous communication between the UAV and userterminals during the entire flight path of UAV.

The systems and methods may collect a proposed flight path of a UAV, anddetermine a communication signal distribution, such as a cellular signaldistribution, along the proposed flight of the UAV. At positions havinglow or no cellular signal, relays may be provided to improve a qualityof the cellular signal. In some embodiments, the relay may comprise afirst communication unit, such as a Wi-Fi unit, capable of directlycommunicating with the UAV and a second communication unit, such as acellular unit, capable of communicating over a communication network. Ifthe UAV is equipped with a cellular unit, at positions having goodcellular signal, the UAV may directly communicate with a communicationnetwork using a cellular signal. At positions having bad or no cellularsignal, the UAV may communicate with the relay over Wi-Fi, and then therelay may forward the communication from UAV to the communicationnetwork using cellular signal. On the other hand, if the UAV is notequipped with a cellular unit, the UAV may communicate with the relayover Wi-Fi, and then the relay may forward the communication from UAV tothe communication network using a cellular signal. In some embodiments,the relays may be stationary relays. Alternatively, the relays may bemovable relays, such as other UAVs having a Wi-Fi unit and a cellularunit. With the systems and methods of present invention, a stable andcontinuous communication between the UAV and user terminals during theentire flight path of UAV, and a coverage of cellular signal may beexpanded.

Communications from a UAV may be relayed by receiving, at a firstcommunication unit such as a Wi-Fi unit of a relay, a wireless signaldirectly from the UAV, and then transmitting, via a second communicationunit such as a cellular unit of the relay, the received wireless signalto a communication network. In some embodiments, the wireless signal maycomprise digital files such as multi-media information captured by theUAV. A wireless signal data may be received from UAV and transmittedover the communication network in a rapid and stable way during theentire flight path of UAV, regardless of a distribution of the cellularsignal.

Communications from a communication network may be relayed by receiving,at a second communication unit such as a cellular unit of a relay, acommunication signal from a public network, and then transmitting, via afirst communication unit such as a Wi-Fi unit of the relay, the receivedcommunication signal to the UAV. In some embodiments, the communicationsignal may comprise an operation command of the UAV which is input bythe user through a remote controller. With the systems and methods ofpresent invention, a communication signal may be received from a remotecontroller over the communication network and transmitted to the UAV ina rapid and stable way during the entire flight path of UAV, regardlessof a distribution of the cellular signal.

An aspect of the invention may include a method of providingcommunication coverage to an unmanned aerial vehicle (UAV), said methodcomprising: collecting a proposed flight path of the UAV; determining acommunications signal distribution along the proposed flight path of theUAV; and determining one or more locations for providing one or morerelays based on the communication signal distribution to improvecommunication signal distribution along the proposed flight path of theUAV.

Aspects of the invention may further include an apparatus for providingcommunication coverage to an unmanned aerial vehicle (UAV), said systemcomprising: one or more processors configured to, individually orcollectively: collect a proposed flight path of the UAV; determine acommunication signal distribution along the proposed flight path of theUAV; and generate signals for providing one or more relays at one ormore locations based on the communications signal distribution toimprove communication signal distribution along the proposed flight pathof the UAV. In some embodiments, the apparatus may be an aerial vehiclesuch as another UAV.

Aspects of the invention may further include a system for providingcommunication coverage to an unmanned aerial vehicle (UAV), said systemcomprising: an aerial vehicle configured to collect a communicationssignal distribution along a proposed flight path of the UAV; and adevice configured to determine one or more locations for providing oneor more relay devices based on the communications signal distribution toimprove communication signal distribution along the proposed flight pathof the UAV.

In some embodiments, determining the communication signal distributionalong the proposed flight path may include detecting one or more areaswhere a quality of communication signal falls beneath a threshold value.The threshold value may vary for the one or more areas. Alternatively,determining the communication signal distribution may include flyinganother aerial vehicle along the proposed flight path to collect thecommunication signal distribution. Alternatively, determining thecommunication signal distribution may include incorporating pastexperience data collective from other UAVs. Alternatively, determiningthe communication signal distribution may include incorporating pastexperience data collective from a communication service provider orreceiving a preset setting of a communication service provider.Alternatively, determining the communication signal distributionincludes determining the communication signal distribution based onreal-time notice from a communication service provider. Optionally,determining the communications signal distribution may include detectinga quality of telecommunication network signal along the proposed flightpath of the UAV.

In some embodiments, determining one or more locations for providing oneor more relays may include determining one or more locations where aquality of communication signal exceeds a threshold value.

In some embodiments, each of the one or more relays comprises (1) afirst communication unit capable of directly communicating with the UAVand (2) a second communication unit capable of communicating over atelecommunication network. In some instances, a plurality of the relaysmay communicate with each other via the second communication units. Insome instances, a communication between the UAV and the plurality of therelays may switch among the plurality of the relays.

In some embodiments, the first communication unit may be a wirelesstransceiver dedicated to communication between the UAV and the relaydevice. In some instances, the wireless transceiver may be a Wi-Fitransceiver. Optionally, the wireless transceiver may be a privatewireless transceiver. Optionally, the wireless transceiver may be aradio frequency transceiver. In some instances, the wireless transceivermay directly communicate with a remote controller comprising acommunication unit capable of directly communicating with the wirelesstransceiver.

In some embodiments, the first communication unit may be capable ofreceiving a signal directly from the UAV. In some instances, the signalmay include information about a multimedia file captured by the UAV.Optionally, the signal may include sensor data collected by one or moresensors onboard the UAV. Alternatively, first communication unit may becapable of transmitting a signal directly to the UAV. In some instances,the signal includes one or more commands that affect operation of theUAV. For instance, the one or more commands may affect flight of the UAVor operation of a payload of the UAV. The one or more commands mayoriginate from a remote controller configured to accept a user input.

In some embodiments, the second communication unit may be a cellularcommunication unit. In some instances, the cellular communication unitmay be configured to communicate with a remote controller over thetelecommunications network. Optionally, the cellular communication unitmay be configured to receive one or more commands that effect operationof the UAV. Optionally, the cellular communication unit may beconfigured to receive one or more commands that effect operation of theUAV. Optionally, the cellular communication unit may be configured totransmit information about a multimedia file captured by the UAV.Optionally, the cellular communication unit may be configured totransmit sensor data collected by one or more sensors onboard the UAV.

In some embodiments, the method of providing communication coverage to aUAV may further comprise modifying the proposed flight path of the UAV.In some instances, the method may further comprise modifying the one ormore locations for providing the one or more relays based on themodification to the proposed flight path of the UAV.

In some embodiments, the one or more relays may be stationary.Alternatively, the one or more relays may be mobile. In some instances,the one or more relays are other UAVs. In some instances, the one ormore relays may be provided at locations having a quality ofcommunications signals that exceeds a threshold value. The thresholdvalue may vary for different locations. In some instances, thecommunications signal distribution along the proposed path may includeone or more areas with poor telecommunication for the UAV. The one ormore relays may be provided at locations where signal coverage of theone or more relays cover the one or more areas with poortelecommunication for the UAV.

In some embodiments, the communication signal distribution may be acellular signal distribution. In some embodiments, the communicationssignal distribution may be within a three-dimensional airspace. Forinstance, the communications signal distribution may be at an altitudeof the flight path of the UAV. In some embodiments, the one or morerelays may authenticate an identification of the UAV.

In some embodiments, the UAV may comprise a third communication unitcapable of directly communicating with the first communication unit ofthe relay. In some instances, the UAV may comprise a fourthcommunication unit capable of communicating with the telecommunicationnetwork. For instance, the one or more relays may be provided atlocations where the one or more relays are capable of receiving signalsfrom the UAV via the first communication unit and transmitting a signalvia the second communication unit when the UAV is not capable ofcommunicating over the telecommunication network. For instance, the oneor more relays may be provided at locations where the one or more relaysare capable of sending signals to the UAV via the first communicationunit and receiving a signal via the second communication unit when theUAV is not capable of communicating over the telecommunication network.In some instances, the fourth communication unit may be a cellularcommunication unit. In some instances, the third communication unit maydirectly communicate with a remote controller comprising a fifthcommunication unit capable of directly communicating with the thirdcommunication unit of the UAV.

Aspects of the invention may further include a method of providingcommunication coverage to an unmanned aerial vehicle (UAV), said methodcomprising: collecting a location of the UAV while the UAV is in flight;determining a communication signal distribution in a proximity of theUAV; and determining one or more locations for providing one or moremobile relays based on the communication signal distribution, while theUAV is in flight to improve communication signal distribution along aflight path of the UAV.

Aspects of the invention may further include an apparatus for providingcommunication coverage to an unmanned aerial vehicle (UAV), saidapparatus comprising: one or more processors configured to, individuallyor collectively: collect a location of the UAV while the UAV is inflight; determine a communications signal distribution in a proximity ofthe UAV; and generate signals to providing one or more mobile relays atone or more locations based on the communications signal distribution,while the UAV is in flight to improve communication signal distributionalong a flight path of the UAV. In some embodiments, the apparatus maybe an aerial vehicle such as another UAV.

In some embodiments, each of the one or more mobile relays may comprise(1) a first communication unit capable of directly communicating withthe UAV and (2) a second communication unit capable of communicatingover a telecommunications network.

In some embodiments, the first communication unit may be a wirelesstransceiver dedicated to communication between the UAV and the relaydevice. In some instances, the wireless transceiver may be a Wi-Fitransceiver. Optionally, the wireless transceiver may be a privatetransceiver. Optionally, the wireless transceiver may be a radiofrequency transceiver. In some embodiments, the second communicationunit is a cellular communication unit.

In some embodiments, the first communication unit may be capable ofreceiving a signal directly from the UAV. In some instances, the signalmay include information about a multimedia file captured by the UAV.Optionally, the signal may include sensor data collected by one or moresensors onboard the UAV. In some embodiments, the first communicationunit may be capable of transmitting a signal directly to the UAV. Insome instances, the signal may include one or more commands that effectoperation of the UAV. For instance, the one or more commands may affectflight of the UAV and/or operation of a payload of the UAV.

In some embodiments, the one or more mobile relays may be other UAVs. Insome embodiments, the flight path of the UAV may be a proposed flightpath or a random flight path.

In some embodiments, the one or more locations of the one or more mobilerelays may change over time while the UAV is in flight. In someinstances, one or more mobile relays may stay within a proximity of theUAV while the UAV is in flight. In some instances, the one or morelocations of the one or more mobile relays may permit each of the mobilerelays to have a quality of communications signal that exceeds athreshold value. In some instances, the one or more locations of the oneor more mobile relays may permit each of the mobile relays to have aground communication load beneath a threshold value.

In some embodiments, determining a communication signal distribution ina proximity of the UAV may include detecting a quality oftelecommunication network signal in a proximity of the UAV.Alternatively, determining a communication signal distribution in aproximity of the UAV may include incorporating past experience datacollective from other UAVs. Alternatively, determining a communicationsignal distribution in a proximity of the UAV may include incorporatingpast experience data collective from a communication service provider orreceiving a preset setting of a communication service provider.Optionally, determining a communication signal distribution in aproximity of the UAV may include determining the communications signaldistribution based on real-time notice from a communication serviceprovider.

In some embodiments, the method of providing communication coverage toUAV may further comprise determining whether the UAV is capable ofcommunication over the telecommunication network at a predeterminedlevel of quality based on the communication signal distribution. In someinstances, the method may further comprise permitting the UAV tocommunicate over the telecommunications network without using the one ormore mobile relays when the UAV is capable of communications over thetelecommunications network at the predetermined level of quality. Insome instances, the method may further comprise permitting the UAV tocommunicate with the first communication unit of the one or more mobilerelays when the UAV is not capable of communications over thetelecommunications network at the predetermined level of quality.

In some embodiments, the method of providing communication coverage toUAV may further comprise determining whether the UAV is capable ofdirect communication with a remote controller at a predetermined levelof quality. In some instances, the method may further comprisepermitting the UAV to communicate directly with the remote controllerwithout using the one or more mobile relays when the UAV is capable ofdirect communications with the remote controller at the predeterminedlevel of quality. In some instances, the method may further comprisepermitting the UAV to communicate with the first communication unit ofthe one or more mobile relays when the UAV is not capable of directcommunications with the remote controller at the predetermined level ofquality.

Aspects of the invention may further include a method of relayingcommunications from an unmanned aerial vehicle (UAV), said methodcomprising: receiving, at a first communication unit of a relay device,a wireless signal directly from the UAV; and transmitting, via a secondcommunication unit of the relay device, a telecommunication signal overa telecommunication network, wherein the telecommunication signalconveys the wireless signal.

Aspects of the invention may further include a relay device of relayingcommunications from an unmanned aerial vehicle (UAV), said relay devicecomprising: a first communication unit configured to receive a wirelesssignal directly from the UAV, said wireless signal conveying a digitalfile information; and a second communication unit connected to the firstcommunication unit and configured to transmit a telecommunicationssignal over a public network, wherein the telecommunications signalconveys the digital file information.

In some embodiments, the telecommunication network may be a cellularnetwork. In some embodiments, the wireless signal may convey amultimedia file. The multimedia file may be a video file or an imagefile. Alternatively, the wireless signal may convey sensor datacollected by one or more sensors onboard the UAV.

In some embodiments, the relay device may be a stationary relay device.Alternatively, the relay device may be a mobile relay device such asanother UAV.

In some embodiments, the first communication unit may be a wirelesstransceiver dedicated to communication between the UAV and the relaydevice. In some instances, the wireless transceiver may be a Wi-Fitransceiver, a radio frequency transceiver or a private wirelesstransceiver. In some embodiments, the second communication unit may be acellular communication unit.

In some embodiments, a remote controller may be configured to receivethe telecommunication signal from the telecommunication network. In someinstances, the remote controller may be configured to accept a userinput that generates an operation command. For instance, the remotecontroller may be a server, a personal computer, or a mobile terminal.The operation command may affect flight of the UAV or operation of apayload of the UAV.

Aspects of the invention may further include a method of relayingcommunications to an unmanned aerial vehicle (UAV), said methodcomprising: receiving, at a second communication unit of a relay device,a telecommunication signal from over a telecommunication network,wherein the telecommunications signal conveys a UAV operation command;and transmitting, via a first communication unit of the relay device, awireless signal directly to the UAV, said wireless signal conveying theUAV operation command.

Aspects of the invention may further include a relay device of relayingcommunications to an unmanned aerial vehicle (UAV), said relay devicecomprising: a second communication configured to receive atelecommunication signal from over a telecommunication network, whereinthe telecommunication signal conveys a UAV operation command; and afirst communication unit configured to transmit a wireless signaldirectly to the UAV, said wireless signal conveying the UAV operationcommand.

In some embodiments, the telecommunication network may be a cellularnetwork. In some embodiments, the first communication unit may be awireless transceiver dedicated to communication between the UAV and therelay device. For instance, the wireless transceiver is a Wi-Fitransceiver, a radio frequency transceiver or a private wirelesstransceiver. In some embodiments, the second communication unit is acellular communication unit.

In some embodiments, the relay device may be a stationary relay device.Alternatively, the relay device may be a mobile relay device. Forinstance, the mobile relay device may be another unmanned aerialvehicle.

In some embodiments, the UAV operation command may affect flight of theUAV. Alternatively, the UAV operation command may affect operation of apayload carried by the UAV. Optionally, the UAV operation command mayaffect positioning of a payload carried by the UAV, relative to the UAV.

In some embodiments, a remote controller may be configured to receive auser input that generates the UAV operation command. In some instances,the remote controller may be a server, a personal computer, or a mobileterminal.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of movable objects. Any description herein of aerial vehicles,such as unmanned aerial vehicles, may apply to and be used for anymovable object, such as any vehicle. Additionally, the systems, devices,and methods disclosed herein in the context of aerial motion (e.g.,flight) may also be applied in the context of other types of motion,such as movement on the ground or on water, underwater motion, or motionin space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 shows an illustration of relays positioned along a flight path ofa UAV, in accordance with some embodiments of the invention.

FIG. 2 shows an illustration of providing communication coverage to aUAV by disposing one relay, in accordance with some embodiments of theinvention.

FIG. 3 shows an illustration of providing communication coverage to aUAV by disposing more than one relays, in accordance with someembodiments of the invention.

FIG. 4 shows an illustration of a ground relay disposed for an unmannedaerial vehicle (UAV), in accordance with some embodiments of theinvention.

FIG. 5 is a flow chart illustrating a method of providing communicationcoverage to an unmanned aerial vehicle (UAV) by one or more groundrelays, in accordance with embodiments of the invention.

FIG. 6 shows an illustration of a mobile relay disposed for an unmannedaerial vehicle (UAV), in accordance with some embodiments of theinvention.

FIG. 7 is a flow chart illustrating a method of providing communicationcoverage to an unmanned aerial vehicle (UAV) by one or more mobilerelays, in accordance with embodiments of the invention.

FIG. 8 shows a block diagram of a relay device of relayingcommunications from an unmanned aerial vehicle (UAV), in accordance withsome embodiments of the invention.

FIG. 9 is a flow chart illustrating a method of relaying communicationsfrom an unmanned aerial vehicle (UAV), in accordance with embodiments ofthe invention.

FIG. 10 shows a block diagram of a relay device of relayingcommunications to an unmanned aerial vehicle (UAV), in accordance withsome embodiments of the invention.

FIG. 11 is a flow chart illustrating a method of relaying communicationsto an unmanned aerial vehicle (UAV), in accordance with embodiments ofthe invention.

FIG. 12 illustrates an appearance of UAV in accordance with embodimentsof the present invention.

FIG. 13 illustrates a movable object including a carrier and a payload,in accordance with embodiments of the present invention.

FIG. 14 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments of thepresent invention.

DETAILED DESCRIPTION

The systems and methods described herein may provide relays at positionswhere an unmanned aerial vehicle (UAV) may not directly communicate witha communication network such as a cellular communication network, toguarantee a communication between the UAV and the communication networkalong an entire flight path of the UAV. A method of providingcommunication coverage to a UAV may comprise collecting informationabout a proposed flight path of a UAV, and determining one or morelocations for providing one or more relays based on a publiccommunications signal distribution along the flight path. In someembodiments, the relay may comprise a first communication unit, such asa Wi-Fi unit, capable of directly communicating with the UAV and asecond communication unit, such as a cellular unit, capable ofcommunicating over a communication network. At positions where a qualityof public communication signal is satisfactory, the UAV may directlycommunicate with the communication network. At positions having weak orno public communication signal, the UAV may communicate with the relayover Wi-Fi, and then the relay may send the communication from UAV tothe communication network by cellular. This may permit the UAV to havecontinuous and seamless communication with the communication networkalong the entire flight path. In some embodiments, the relays may bestationary relays. Alternatively, the relays may be movable relays, suchas other UAVs having a Wi-Fi unit and a cellular unit onboard.

The systems and methods described herein may also receive data from aUAV and transmit the received data to a public communication network, orreceive data from a public communication network and transmit thereceived date to a UAV. The communication between the UAV and relaydevice may be carried over a first communication link such as a Wi-Filink, and the communication between the relay device and the publiccommunication network may be carried over a second communication linksuch as a cellular link. The first and second communication may be ofdifferent types of communication. A wireless signal data may be receivedfrom UAV and transmitted over the communication network, and acommunication signal may be received from a remote controller over thecommunication network and transmitted to the UAV in a rapid and stableway during the entire flight path of UAV, regardless of a distributionof the communication signal, such as a quality of cellular communicationsignal over the flight path.

FIG. 1 shows an illustration of relays positioned along a flight path ofa UAV, in accordance with some embodiments of the invention. In someembodiments, the UAV 120 may have a proposed or fixed flight path, suchas a fixed flight path starting from point A to point B as shown inFIG. 1. The proposed flight path of UAV may be planned before the UAVtaking off. In some instances, the proposed flight path of UAV may beplanned for completing a particular mission, such as inspecting a powerline, package delivering, photograph, aerial surveillance or patrollinga national boundary. For instance, the proposed flight path of UAV maybe pre-registered with an administrative authority or a commercialentity. The user may upload the proposed flight path of UAV to an onlineadministrative system, including information about the proposed path ofthe flight, the proposed time window of the flight, the propose task ofthe flight, the proposed altitude of the flight, an identification ofthe UAV, the model of the UAV, and/or an identification of the user. Theuser may cancel the proposed flight before the UAV taking off or modifythe details of the proposed flight before or during the UAV's flight. Insome instances, the flight path of UAV may be planned by considering acommunication signal coverage, a remote controller signal coverage, anaerial traffic control, a usage of free/commercial aerial path, acongestion of aerial path, and/or a terrain condition along the aerialpath. Alternatively, the flight path of UAV may be a random flight path.For instance, the UAV may be manually controlled by a user through aremote controller in a real-time manner. In some instances, the randomflight path may not be pre-registered but may follow a set ofadministrative rules.

In some embodiments, the UAV may autonomously or semi-autonomously flyalong a proposed path. For instance, the UAV may follow a proposedflight path by using a real-time GPS (Global Positioning System) signalinformation during the flight. Alternatively, the UAV may be manuallycontrolled to follow a proposed flight path or fly randomly. In someinstances, the flight path of the UAV may be in a form of a straightline or a curve connecting the start point and an ending point.Optionally, the flight path of the UAV may be in a form of random shape,such as an irregular shape composed of a plurality of straight lines andcurves. For instance, the flight path of UAV may not be a straight lineconnecting the start pint and ending point, but having a plurality ofturning points along the flight path.

In some embodiments, the UAV may communicate with user terminals alongthe entire flight path. The user terminals may include a remotecontroller, a control center, a display device, a ground station, acommunication base station, a communication relay device, and/or atransceiver. In some embodiments, the user terminal may connect to acommunication network such as a cellular network. Alternatively, theuser terminal may directly communicate with the UAV. In some instances,the UAV may communicate with the user terminals to transmit datacollected by sensors onboard the UAV to a user terminal. For instance,the UAV may transmit images or videos captured by an onboard camera to amonitoring device on the ground or a storage device on the ground. Foranother instance, the UAV may transmit a GPS (Global Positioning System)information measured by an onboard GPS module to a monitoring device onthe ground, such that the user may monitor and track a flight of theUAV. Optionally, the UAV may receive data transmitted from a userterminal. For instance, operation commands may be transmitted fromremote controller to the UAV to affect an operation of the UAV, such asflight of the UAV or an operation of a payload of the UAV. In someinstances, the flight of UAV may include but not limited to a speed ofUAV, a translational and/or angular acceleration of UAV, an attitude ofUAV, a taking off of UAV and/or a landing of UAV. In some instances, theoperation of a payload may include but not limited to changing aposition of the payload relative to UAV, a zooming in and/or zooming outof a camera, and/or a power on/off of a sensor.

In some embodiments, the UAV may communicate with a communicationnetwork along the entire flight path. The communication network may be acellular network, a WLAN (Wireless Local Area Network) or Internet. Insome instances, the UAV may communicate with a communication network totransmit data collected by sensors onboard the UAV to a user terminal,e.g., UAV location, UAV attitude, power level of battery stack, if theuser terminal is also connected to the communication network. Forinstance, the UAV may transmit images or videos captured by an onboardcamera to a remote server or device on the communication network.Optionally, the UAV may receive data transmitted from a remote server ordevice on the communication network. For instance, operation commandsmay be transmitted from remote device to the UAV to affect a flight ofthe UAV or an operation of a payload of the UAV.

In some embodiments, the communication between a UAV and a user terminalmay be carried by any suitable means of communication, such as wiredcommunication or wireless communication, a direct communication orindirect communication. For example, UAV may utilize one or more oflocal area networks (LAN), wide area networks (WAN), infrared, radio,Wi-Fi, point-to-point (P2P) networks, communication networks, cloudcommunication, and the like to communicate with the user terminal.Optionally, relay stations, such as towers, satellites, or mobilestations, may be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications.

In some embodiments, the communication between a UAV and a user terminalmay be carried on over a dedicated link. In some instances, thededicated link may be a wireless link such as a Wi-Fi link, a RF (radiofrequency) link, a Bluetooth link, a ZigBee link, a private wirelesslink, a P2P network, or a WALN (Wireless Local Area Network) link. Forinstance, a private wireless link may be a link developed and usedinternal to an entity, a corporate or an organization. Optionally, thededicated link may be a wired link such as a twisted copper wire link oran optical fiber link. For instance, the UAV may transmit data to orreceive data from a ground station via a Wi-Fi link which isestablished. For another instance, the UAV may receive an operationcommand from a remote controller via a ZigBee link which is establishedbetween a ZigBee module on the UAV and another ZigBee module on theremote controller.

Alternatively, if both the UAV and user terminal are equipped with acellular module, the communication between the UAV and the user terminalmay be carried over a cellular link via a cellular network. Forinstance, the UAV may transmit the captured image data or collectedsensor data to a ground monitoring device via an onboard cellularcommunication module. In this case, the captured image data or collectedsensor data may be firstly transmitted to a base station of a cell inwhich the UAV locates, then routed to a base station of a cell in whichthe ground monitoring device locates, and sent to the ground monitoringdevice which is also equipped with a cellular communication module.

In some embodiments, a communication signal such as cellular signal maybe available along the entire flight path of the UAV 120. For instance,along the entire flight path, a signal quality of cellular communicationnetwork may be above a predetermined threshold value and the UAV candirectly communicate with the cellular communication network via anonboard cellular communication unit. In this case, the UAV may directlycommunication with the communication network such as a cellularcommunication network along the entire flight path and send/receive datato/from a user terminal which is connected to the communication network.For instance, the UAV may transmit data collected by sensors onboard theUAV to a remote server or device through the cellular communicationnetwork, and receive operation command from a remote server or devicethrough the cellular communication network, along the entire flightpath. In some embodiments, the threshold may be a fixed value alongentire flight path of UAV. Alternatively, the threshold may be manuallyor automatically changed according to a specific communication conditionsuch as a weather effect, a terrain condition, an altitude of the UAV, acongestion of cellular communication.

Alternatively, a communication signal such as cellular signal may notalways be available along the entire flight path of the UAV 120. Forinstance, at one or more locations along the flight path, a signalquality of cellular communication network may fall beneath apredetermined threshold value and the UAV may not directly communicatewith the cellular communication network. In this case, in order tomaintain a continuous communication with the communication network, oneor more auxiliary communication devices may be disposed to provide acommunication between the UAV and the communication network at locationswhere the UAV cannot directly communicate with the communicationnetwork. In some embodiments, an auxiliary communication device may be adevice having a capacity of receiving data from the UAV and transmittingdata to the UAV via a communication link, and a capacity ofcommunicating with a communication network. At locations where the UAVcannot directly communicate with the communication network, abi-directional communication can be established between the UAV and thecommunication network via the one or more auxiliary communicationdevice.

Alternatively, a communication signal such as cellular signal may not beavailable along the entire flight path of the UAV 120. For instance, asignal quality of cellular communication network may fall beneath apredetermined threshold value along the entire flight path of UAV. Inthis case, one or more auxiliary communication devices may be disposedalong the flight path of UAV to provide a communication between the UAVand the communication network. In some instance, the luxiliarycommunication devices may be connected with each other through a wirednetwork. Along the entire flight path, a bi-directional communicationcan be established between the UAV and the communication network via theone or more auxiliary communication device.

In some embodiments, the auxiliary communication device may be a groundcommunication device such as a relay, a transceiver, or a base stationof cellular communication systems. A relay may be a device which canprovide a communication link between the UAV and the relay itself, andcan directly communicate with the communication network. In someinstances, the ground communication device may be stationary. Forinstance, the ground communication device may be installed at a fixedposition. Optionally, the ground communication device may be movable.For instances, the ground communication device may be carried on amovable object such as a vehicle. Alternatively, the auxiliarycommunication device may be an aerial communication device. In someinstances, the aerial communication device may be an aerial vehicle,such as an unmanned aerial vehicle (UAV), carrying a communication unitcapable of directly communicating with the UAV. Optionally, the aerialcommunication device may be a communication device carried by an airballoon. In some instances, the aerial communication device may berelatively stationary in the air. For instance, the aerial communicationdevice may stay or hover at a certain position in the air. Optionally,the aerial communication device may be movable in the air. For instance,the aerial communication device may fly to follow the UAV along theentire or partial flight path of the UAV.

As illustrated in FIG. 1, two auxiliary communication devices such asrelays 140, 142 may be disposed to provide the UAV a communication tothe communication network at locations where the UAV cannot directlycommunicate with the communication network. The relays 140 and 142 mayeach have a coverage 160 and 162, respectively. In some embodiments, therelays 140, 142 may each be disposed at locations have a quality ofpublic communication signal that exceeds a threshold value. Forinstance, the relays may each be disposed at locations where thecellular communication signal is strong, so that the relays maycommunicate with the cellular communication system. The communicationsignal of a relay may cover all or a part of a region where thecommunication signal is not available to the UAV, and relay acommunication from and UAV to the communication network and acommunication from the communication network to the UAV. For instance,the UAV, which is flying at a region having no direct access to thecellular communication system, may communicate with the relay via adedicated communication link such as a Wi-Fi link, and the relay maysend the communication from UAV to the cellular communication system.This may permit the UAV a communication with the cellular communicationnetwork via the relay at locations where the UAV cannot directlycommunicate with the cellular communication network.

FIG. 2 shows an illustration of providing communication coverage to aUAV by disposing one relay, in accordance with some embodiments of theinvention. For instances, the UAV 220 may fly along a flight path frompoint A to point C via point B. The flight path may be covered by publiccommunication signal at regions within a first public communicationcoverage 280 and a second public communication coverage 282, except fora region between the first and second public communication coverages. Insome embodiments, the public communication signal may be atelecommunication signal such as a cellular signal.

In some embodiments, the relay 240 may be disposed to providecommunication at a region between the first public communicationcoverage 280 and the second public communication coverage 282 where nosatisfactory communication signal is available to the UAV. The relay 240may have a signal coverage 260, which may cover the region where thequality of the public communication signal falls beneath a thresholdvalue between the first and second public communication coverages. Insome embodiments, the relay may be disposed at a location having aquality of communication signal that exceeds a threshold value. Forinstance, the relay 240 itself may be disposed within the first publiccommunication coverage 280 where the cellular signal is strong, so thatthe relay may communicate with the cellular communication network. Here,the quality of the public communication signal may be measure within athree-dimensional airspace. In some instances, the quality of the publiccommunication signal may be measured or estimated at an altitude the UAVis flying along the flight path.

In some embodiments, the UAV may directly communicate with thecommunication network such as a cellular communication network when theUAV is flying within the first and second public communication coverageswhere the quality of public communication signal exceeds a thresholdvalue. When the UAV is flying within a region out of any publiccommunication coverage where the quality of public communication signalfalls beneath the threshold value, the UAV may directly communicate witha relay, and the relay may relay the UAV communication to thecommunication network. By disposing a relay which has a signal coveragecovering a region where a quality of the public communication signalfalls beneath a threshold value, a continuous and seamless publiccommunication may be maintained along the entire flight path of the UAV,even at locations the UAV cannot directly communicate with the publiccommunication system.

Alternatively, the UAV may not carry onboard a communication unit whichcan communicate with the communication network such as a cellularcommunication network. In this case, the UAV may communicate with one ormore relaysonly, which are provided along the flight path of the UAV,along the entire flight path.

FIG. 3 shows an illustration of providing communication coverage to aUAV by disposing more than one relays, in accordance with someembodiments of the invention. For instances, the UAV 320 may fly along aflight path from point A to point C via point B. The flight path may becovered by public communication signal at regions within a first publiccommunication coverage 380 and a second public communication coverage382, except for a region between the first and second publiccommunication coverages.

In some embodiments, one than one relays may be disposed to cover aregion where the quality of communication signal falls beneath athreshold value. The number of relays to be disposed may be determinedat least based on a coverage of a relay, a disposing location of a relaywithin a public communication coverage, and a size of the region wherethe quality of public communication signal falls beneath a thresholdvalue. In some instances, two relays may be disposed to providecommunication to UAV at locations the quality of public communicationsignal falls beneath a threshold value. The two relays themselves may berespectively disposed within two public communication coverages, and maycommunicate with each other through the communication network. Forinstance, a plurality of cellular base stations, which provide aplurality of cellular communication coverages, may communicate with eachvia a backbone cellular network. Optionally, three or more relays may bedisposed to provide communication to UAV at locations the quality ofpublic communication signal falls beneath a threshold value. The threeor more relays themselves may respectively locate within three or morepublic communication coverages, and may communicate with each otherthrough the communication network. Therefore, at locations the UAVcannot directly communicate with the public communication system, theUAV may communicate with the public communication system via the relayswhich communicate with each other.

For instance, as shown in FIG. 3, the UAV 320 may not directlycommunicate with the cellular communication network at a region out of afirst public communication coverage 380, a second public communicationcoverage 382 and a second public communication coverage 384 where aquality of the cellular communication signal falls beneath a thresholdvalue. A first relay 340 having a first signal coverage 360 and a secondrelay 342 having a second signal coverage 360 may be disposed to providecommunication to the UAV in the region where the quality of thecommunication signal falls beneath the threshold value. The first relay340 may be disposed within the first public communication coverage 380and the second relay 342 may be disposed within the second publiccommunication coverage 382 where the quality of the cellularcommunication signal is above a threshold value.

In some instances, if the region between the first and second publiccommunication coverages where the quality of the cellular communicationsignal falls beneath the threshold value may not be fully cover by thefirst and second signal coverages of the first and second relays, athird relay 344 having a third signal coverage 364 may be disposed toprovide communication to the UAV at a region which is not covered by thefirst and second signal coverages. The third relay may be disposedwithin a third public communication coverage 384 where the quality ofthe communication signal is above a threshold value. More relays may bedisposed if the region at which the UAV cannot directly communicate withthe communication network is not fully covered by the first, second andthird signal coverages of the first, second and third relays. Here, thequality of the communication signal may be measure within athree-dimensional airspace. In some instances, the quality of the publiccommunication signal may be measured or estimated at an altitude the UAVis flying along the flight path.

In some embodiments, the plurality of relays may communicate with eachthrough the communication network. For instance, a plurality of cellularbase stations, which provide a plurality of cellular communicationcoverages, may communicate with each other via a backbone communicationnetwork. This may permit the plurality of relays communicate with eachother through the cellular communication network even if the pluralityof cellular communication coverages are separate from each other, asshown in FIG. 3. Alternatively, the plurality of relays may be connectedand communicate with each through a wired network. Theinter-communication among the plurality of relays may guarantee acontinuous and seamless communication between the UAV and thecommunication network such as a cellular communication network.

In some embodiments, a communication between the UAV and the pluralityof the relays may switch among the plurality of the relays. A switchingor handover between adjacent relays may be implemented by variousschemes. In some embodiments, the handover between adjacent relays maybe a hard handover. For instance, a hard handover may be a handover inwhich the channel in the source relay coverage is released and only thenthe channel in the target relay coverage is engaged. Alternatively, thebetween adjacent relays may be a soft handover. For instance, a softhandover may be a handover in which the channel in the source relaycoverage is retained and used for a while in parallel with the channelin the target relay coverage.

In some embodiments, the telecommunication operator may coordinate withthe UAV to enhance an efficiency of UAV's data uploading/downloading andachieve a balance in traffic load of telecommunication network. Forinstance, the cellular cell within which the UAV locates may bear alarge communication traffic and thus may not support a datauploading/downloading to/from the UAV. In this case, the UAV maycommunicate with a relay, which is provided within a signal coverage ofan adjacent cellular cell bearing less communication traffic, andcommunicate with the adjacent cellular cell through the relay. In someinstances, the UAV may switch to the relay, which is provided within asignal coverage of an adjacent cellular cell, based on commands orreal-time notices from the communication operator. Optionally, the UAVmay switch to the relay, which is provided within a signal coverage ofan adjacent cellular cell, based on communication condition measured bythe UAV. For instance, the UAV may switch to the relay, which isprovided within a signal coverage of an adjacent cellular cell, if theUAV fails to receive a requested bandwidth from the cellular cell withinwhich the UAV locates.

In some embodiments, the UAV may directly communicate with thecommunication network such as a cellular communication network when theUAV is flying within regions where the quality of public communicationsignal exceeds a threshold value. When the UAV is flying within a regionout of any public communication, the UAV may directly communicate withone of the plurality of relays, and the relay may send the UAVcommunication to the communication network. By disposing a plurality ofrelays, which have signal coverages collectively covering a region wherea quality of the public communication signal falls beneath a thresholdvalue, a continuous and seamless public communication may be maintainedbetween UAV and the public communication network, even at locations theUAV cannot directly communicate with the public communication system.

FIG. 4 shows an illustration of a ground relay disposed for an unmannedaerial vehicle (UAV), in accordance with some embodiments of theinvention. The UAV 420 may have one or more propulsion units 422 thatmay permit the UAV to move about in the air. The UAV may be arotorcraft. In some instances, the UAV may be a multi-rotor craft thatmay include a plurality of rotors. The plurality or rotors may becapable of rotating to generate lift for the UAV, enabling the UAV tomove about freely through the air (e.g., with up to three degrees offreedom in translation and/or up to three degrees of freedom inrotation). In some embodiments, the UAV may carry onboard an imagesensor 424 such as a camera, a dedicated communication unit 426 and apublic communication unit 428. The dedicated communication unit maydirectly communicate with one or more relays 440 via a dedicated linksuch as a Wi-Fi link. The public communication unit 428 may directlycommunicate with a communication network 460 at locations where aquality of public communication signal exceeds a threshold value. Insome embodiment, the public communication unit 428 may be a cellularcommunication unit.

In some embodiments, the relay 440 itself may be provided at a locationhaving a quality of public communication signal that exceeds a thresholdvalue, so that the relay may communicate with the communication network460. In some instances, a relay may be a device which can communicatewith a public communication network and can also provide a communicationsignal coverage. For instance, a relay may be communicate with acommunication network such as a cellular communication network, andmeanwhile, the relay may provide a signal coverage so that other devicescan communicate with the cellular communication network by communicatingwith the relay. In some embodiments, the relay 440 may comprise a firstcommunication unit 442 capable of directly communicating with thededicated communication unit of the UAV, and a second communication unit444 connected to the first communication unit and capable ofcommunicating over communication network 460 or a wired communicationnetwork.

In some embodiments, the first communication unit 442 of the relay 440may be a wireless transceiver dedicated to a communication between theUAV and the relay device. For instance, the first communication unit 442of the relay 440 may directly communicate with the dedicatedcommunication unit 426 of the UAV. In some instances, the wirelesstransceiver may be a Wi-Fi transceiver. Optionally, the wirelesstransceiver may be a RF (radio frequency) transceiver. Optionally, thewireless transceiver may be a private wireless transceiver. Accordingly,the dedicated communication unit 426 of the UAV 420 may be a Wi-Fitransceiver. Optionally, the dedicated communication unit may be a RF(radio frequency) transceiver. Optionally, the dedicated communicationunit may be a private wireless transceiver.

In some embodiments, the first communication unit 442 of the relay 440may be capable of receiving a signal directly from the UAV. The signalreceived from the UAV may be transmitted to communication network viathe second communication unit 444 connected to the first communicationunit 442. In some instances, the signal received from the UAV mayinclude information about a multimedia file captured by the UAV. Forinstance, the multimedia file may be images or videos captured by acamera onboard the UAV. Optionally, the signal received from the UAV mayinclude sensor data collected by one or more sensors onboard the UAV. Insome embodiments, the first communication unit of the relay may becapable of transmitting a signal directly to the UAV. In some instances,the signal transmitted to the UAV may include one or more commands thateffect an operation of the UAV. For instance, the one or more commandsmay affect a flight of the UAV or an operation of a user terminalcontroller which is configured to accept a user input. The user terminalsuch as a remote controller may be connected to the communicationnetwork.

In some embodiments, the second communication unit 444 of the relay 440may a cellular communication unit. The data received by the secondcommunication unit may be transmitted to the UAV via the firstcommunication unit 442 which is connected to the second communicationunit. Alternatively, the second communication unit of the relay may awired communication unit which can communicate with other relays over awired network. In some instances, the second communication unit may beconfigured to communicate with a remote controller over thecommunications network. Optionally, the second communication unit may beconfigured to receive one or more commands that affect operation of theUAV. For instance, a user may input UAV operation commands into a remotecontroller such as a mobile phone or a personal computer which isconnected to the communication network. The UAV operation commands maybe transmitted from the remote controller to the second communicationunit of the relay through the communication network, and then to the UAVvia the dedicated communication link established between the firstcommunication unit of the relay and the dedicated communication unit ofthe UAV, such that the UAV may operate according to user's UAV operationcommands. In some instances, the second communication unit may beconfigured to transmit information about a multimedia file captured bythe UAV. Optionally, the second communication unit may be configured totransmit sensor data collected by one or more sensors onboard the UAV.For instance, images or videos captured by a camera onboard the UAV andvarious sensor date collected by sensors onboard the UAV may betransmitted from the dedicated communication unit of the UAV to thefirst communication unit of the relay, and then to the communicationnetwork through the second communication unit of the relay, such thatthe images and video may be shared on a social network or viewed by theuser.

As discussed herein above, by providing one or more relays along theflight path of UAV based on a communication signal distribution, the UAVmay communicate with the communication network along the entire flightpath. In some instances, at locations where a quality of publiccommunication exceeds a threshold value, the UAV may directlycommunicate with the communication network through the onboard publiccommunication unit. Optionally, at locations where a quality of publiccommunication falls beneath the threshold value, the UAV may communicatewith the communication network through the one or more relays which areprovided based on a communication signal distribution along the flightpath.

Alternatively, the UAV may not carry onboard a public communication unitwhich can directly communicate with a communication network. In thiscase, the UAV may only communicate with one or more relays along theentire flight path. For instance, one or more relays may be disposedalong the flight path of UAV to provide a continuous signal coverage tothe UAV, and the UAV may communicate with the communication network viathe one or more relays only along the entire flight path. The one ormore relays may be deployed along the flight path of UAV prior to theflight of UAV if no telecommunication signal is available to UAV alongthe flight path of the UAV or if a reliable private communication aredesired. In some instances, the relays may communicate with each otherby a wired network. For instance, the second communication unit of therelay may a wired communication unit.

In some embodiments, an identification of the UAV may be authenticatedthrough the entire flight path. In some instances, when the UAV flies atlocation where the UAV can directly communicate with the communicationnetwork, the identification of the UAV may be authenticated by checkingand confirming the identification with an authentication center on thecommunication network. For instance, if the authentication fails, theUAV may be forced to land. Optionally, when the UAV flies at locationwhere the UAV cannot directly communicate with the communicationnetwork, the identification of the UAV may be performed by one or morerelays which may communicate with the communication network. Forinstance, the one or more relays may request an identification of theUAV which communicates with the one or more relays, and send theidentification of the UAV to an authentication center on thecommunication network.

In some embodiments, the UAV 420 comprising the dedicated communicationunit 426 and the public communication unit 428 may provide acommunication coverage to a user terminal 480. In some instances, theuser terminal may be a remote controller, a personal computer, or amobile device.

In some embodiments, the user terminal may comprise a fifthcommunication unit 482 which may directly communicate with the dedicatedcommunication unit 426 via a dedicated link such as a Wi-Fi link. Theuser terminal having no public communication capacity may communicatewith the communication network via the UAV. For instances, at locationswhere the UAV can directly communicate with the cellular communicationnetwork, the user terminal may directly communicate with the UAV by aWi-Fi link established between the fifth communication unit of the userterminal and the dedicated communication unit of the UAV, then the UAVmay send the communication from the user terminal to the cellularcommunication network by a cellular link established between the publiccommunication unit of UAV and the cellular communication network.Optionally, the user terminal may communicate with the communicationnetwork via both the UAV and the relay 440. For instances, at locationswhere the UAV cannot directly communicate with the cellularcommunication system, the user terminal may directly communicate withthe UAV by a Wi-Fi link established between the fifth communication unitof the user terminal and the dedicated communication unit of the UAV,then the UAV may send the communication from the user terminal to therelay by a Wi-Fi link established between the dedicated communicationunit of the UAV and the first communication unit of the relay, and thenthe relay may send the communication from the UAV to the cellularcommunication network by a cellular link established between the secondcommunication unit of the relay and the cellular communication network.Therefore, since the UAV may directly communicate with the communicationnetwork or communicate with the communication network via one or morerelays during the entire flight path, a user terminal which can directlycommunicate with the UAV may also communicate with the communicationnetwork via the UAV. For instance, the user terminal may get access toInternet via the UAV even if the user terminal does not have a publiccommunication capacity.

Alternatively, the fifth communication unit 482 of the user terminal 480may directly communicate with the first communication unit 442 of therelay 440. In some instances, the user terminal may communicate with therelay via a dedicated link established between the fifth communicationunit of the user terminal and the first communication unit of the relay,then the second communication unit 444 of the relay may send thecommunication from the user terminal to the communication network, andvice versa.

In some embodiments, in addition to the fifth communication unit 482which may directly communicate with the dedicated communication unit 426of the UAV via a dedicated link such as a Wi-Fi link, the user terminalmay comprise a six communication unit 484 which may communicate with thepublic communication system network. For instance, the six communicationunit may be a cellular communication unit which may communicate with thecellular communication network. In some instances, the user terminalsuch as a mobile phone may receive a user's input and transmit theuser's input to the UAV via the communication network, at locationswhere the UAV can directly communicate with the communication network.In some embodiments, the user's input may be flight command that mayaffect an operation of the UAV or an operation of payloads of the UAV.For instances, a user may input a flight command to a user terminal suchas a mobile phone, the flight command may be transmitted to the cellularnetwork via a cellular link between the mobile phone and the cellularnetwork and then to the UAV via a cellular link between the cellularnetwork and the UAV. Optionally, the user terminal such as a mobilephone may receive a user's input and transmit the user's input to theUAV via the relay, at locations where the UAV cannot directlycommunicate with the communication network. For instances, a user mayinput a flight command to a user terminal such as a mobile phone, theflight command may be transmitted to the cellular network via a cellularlink between the mobile phone and the cellular network, then to therelay via the cellular link between the cellular network and the relay,and then to the UAV via a Wi-Fi link between the relay and the UAV.

FIG. 5 is a flow chart illustrating a method of providing communicationcoverage to an unmanned aerial vehicle (UAV) by one or more groundrelays, in accordance with embodiments of the invention. In someembodiments, a proposed flight path of a UAV may be collected, and oneor more locations for providing one or more relays may be determinedbased on a public communications signal distribution along the flightpath. In some embodiments, the method 500 of providing communicationcoverage to UAV may be performed by a system. Alternatively, the method500 of providing communication coverage to UAV may be performed by asingle apparatus such as another UAV.

In step 502, a proposed flight path of a UAV may be collected. In someembodiments, the UAV may have a proposed flight path which is plannedbefore the UAV taking off. In some instances, the proposed path of UAVmay be planned for completing a particular mission, such as inspecting apower line, package delivering, or patrolling a national boundary, etc.The proposed flight path may be fixed after it is planned.

In step 504, a communication signal distribution along the proposedflight path of the UAV may be determined. In some embodiments, thecommunication signal distribution may be a cellular signal distributionalong the proposed flight path of the UAV. Alternatively, thecommunication signal distribution may be a quality of cellular signal.Optionally, the communication signal distribution may be a degree ofcongestion in communication capacity. Here, the communication signaldistribution may be measure within a three-dimensional airspace. In someinstances, communication signal distribution may be measured orestimated at an altitude the UAV is flying along the flight path.

In some embodiments, determining the communication signal distributionalong the proposed flight path may include detecting one or more areaswhere a quality of communication signal falls beneath a threshold value.For instance, if the UAV is flying within a region where the quality ofcellular signal falls beneath a threshold value, the UAV may notdirectly communicate with the cellular communication network, and arelay may be needed to relay the UAV communication to the cellularcommunication network. In some instances, the information about one ormore areas where a quality of communication signal falls beneath athreshold value may be collected by analyzing information about adistribution of base stations and coverages of base stations in thecellular communication network. Optionally, the information about one ormore areas where a quality of communication signal falls beneath athreshold value may be collected from a cellular service provider. Forinstance, the user may plan a flight path of UAV, input the plannedflight path to an online enquiry system provided by the cellular serviceprovider, and obtain necessary information about a cellularcommunication coverage and/or a cellular signal distribution along theflight path.

Alternatively, determining the communication signal distribution mayinclude flying another aerial vehicle along the proposed flight path tocollect the communications signal distribution. For instance, after aflight path of UAV is planned, a testing aerial vehicle such as a UAVmay fly along the planned flight path to collect necessary information.The testing aerial vehicle may carry a device for measuring a quality ofthe communication network, and collect the information about a cellularcommunication coverage and/or a cellular signal distribution along theplanned flight path, such that the communication signal distributionalong the planned flight path may be collected before UAV is taking off.

Alternatively, determining the communication signal distribution mayinclude incorporating past experience data collective from other UAVs.Alternatively, determining the communication signal distribution mayinclude incorporating past experience data collective from acommunication service provider. For instance, after a flight path of UAVis planned, the user may input the planned flight path to an onlineenquiry system. The online enquiry system may be an information sharingplatform for sharing past communication signal distribution informationassociated with locations, which may be collected from past flights ofother UAVs or past experience data collective from a communicationservice provider.

Alternatively, determining the communication signal distribution mayinclude receiving a preset setting of a communication service provider.For instance, the communication service provider may set one or moreareas as “areas to avoid” in view that the one or more areas maynormally have a large number of communication users and thus acongestion in communication may happen. The settings for the one or moreareas may be received from the communication service provider, and oneor more relays may be accordingly disposed to provide communications forUAV in the one or more areas, such that the UAV may communicate withtelecommunication network through the one or more relays when the UAV isflying within the one or more areas.

Alternatively, determining the communication signal distribution alongthe proposed flight path includes detecting one or more areas where anavailable bandwidth for the UAV falls beneath a threshold value. In someinstances, the UAV may not be assigned with a requested bandwidth at anarea where a quality of communication signal is above a predeterminedvalue. For instance, a lack of communication resource such as abandwidth may happen due to a large number of communication users withina cellular cell. In this case, although the quality of communicationsignal is satisfactory within the cellular cell, the UAV may have tocommunicate with another cell in view that the requested bandwidthcannot be satisfied within the cellular cell.

Alternatively, determining the communication signal distribution mayinclude determining the communications signal distribution based onreal-time notice from a communication service provider. In someinstances, the communication signal distribution at a location may vary.For instance, a quality of communication signal at a location may varydue to a weather change. For another instance, a degree of congestion incommunication capacity at a particular location may vary due to a changein a number of communication users at this location. In someembodiments, a change in the communication signal distribution at aparticular location or along a flight path may be determined based onreal-time notice from a communication service provider.

Optionally, determining the communication signal distribution mayinclude detecting a quality of communications network along the proposedflight path of the UAV. In some instances, detecting a quality ofcommunications network along the proposed flight path of the UAV mayinclude flying another aerial vehicle along the proposed flight path tocollect the information about quality of communications network. Forinstance, after a flight path of UAV is planned, a testing aerialvehicle such as a UAV may fly along the planned flight path to collectnecessary information about the quality of communications network. Thetesting aerial vehicle may carry a device for measuring a quality ofcommunications network, and collect the information about acommunication coverage and/or a communication signal distribution alongthe planned flight path, such that the communication signal distributionalong the planned flight path may be collected before formally flyingthe UAV which undertake a mission.

In step 506, one or more locations for providing one or more relays maybe determined based on the communications signal distribution determinedin step 504. In some embodiments, the one or more relays may bestationary. For instance, the one or more relays may be disposed atfixed locations where a quality of public communications signal exceedsa threshold value for the one or more relays and a signal coverage ofthe one or more relays may cover one or more areas where a quality ofpublic communications signal is below a threshold value for the UAV.Alternatively, the one or more relays may be movable. For instance, theone or more relays may be carried on a movable object such as a groundvehicle. For another instance, the one or more relays may be otheraerial vehicles such as UAVs.

In some embodiments, each of the one or more relays may provide (1) afirst communication mode capable of directly communicating with the UAV,and (2) a second communication mode capable of communicating over acommunications network, to improve communications signal distributionalong the proposed flight path of the UAV, as discussed hereinabove. Insome instance, for a location where a quality of public communicationssignal is below a threshold value for the UAV, a relay may be providedto provide a communication between the UAV and the relay. Therefore, theUAV may communicate with the public communications system via the relayeven at locations where a quality of public communications signal isbelow a threshold value for the UAV.

In some embodiments, the method 500 of providing communication coverageto a UAV may further comprise modifying the proposed flight path of theUAV. In some instance, if the communications signal distribution of theoriginal proposed flight path is not satisfactory, the user may modifythe original proposed flight path of the UAV. For instance, if it isdetermined that a plurality of relays should be provided at a largenumber of locations along the original proposed flight path in step 506,then the original proposed flight path may be modified to reduce thenumber of relays to be provided so as to reduce a cost. In someembodiments, the method 500 of providing communication coverage to a UAVmay further comprise modifying the one or more locations of the one ormore relays based on the modification to the proposed flight path of theUAV. For instance, if the original proposed flight path of the UAV is tobe modified to reduce the number of relays, the one or more locationsfor providing the one or more relays may be modified based on the newproposed flight path of the UAV by performing similar steps as steps502, 504 and 506.

In some embodiments, the method of providing communication coverage to aUAV by determining one or more locations for providing one or morerelays at one or more locations based on the communications signaldistribution may be performed by a single apparatus. In some instances,the apparatus may be an aerial vehicle such as an unmanned aerialvehicle (UAV). In some embodiments, the apparatus may comprise one ormore processors configured to, individually or collectively, perform thesteps 502, 504 and 506 as discussed hereinabove. For instance, a testingUAV may comprise one or more processors configured to, individually orcollectively, collect a proposed flight path of the UAV, determine acommunication signal distribution along the proposed flight path of theUAV, and generate signals for providing one or more relays at one ormore locations based on the communications signal distribution. A userterminal may deploy one or more relay based on the signal indicative ofthe one or more locations as generated by the testing UAV.

Alternatively, the method of providing communication coverage to a UAVby determining one or more locations for providing one or more relays atone or more locations based on the communications signal distributionmay be performed by a system. In some embodiments, the system maycomprise an aerial vehicle configured to collect a communications signaldistribution along a proposed flight path of the UAV, and a deviceconfigured to determine one or more locations for providing one or morerelay devices based on the communications signal distribution.

FIG. 6 shows an illustration of a mobile relay disposed for an unmannedaerial vehicle (UAV), in accordance with some embodiments of theinvention. The UAV 620 may have one or more propulsion units 622 thatmay permit the UAV to move about in the air. In some embodiments, theUAV may carry onboard an image sensor 624 such as a camera, a dedicatedcommunication unit 626 and a cellular communication unit 628. Thededicated communication unit may directly communicate with one or moremobile relays 640 via a dedicated link such as a Wi-Fi link. Thecellular communication unit 628 may directly communicate with acommunication network 660 such as a cellular network at locations wherea quality of public communication signal exceeds a threshold value.

In some embodiments, the mobile relay 640 may be an unmanned aerialvehicle (UAV) carrying a first communication unit 644 capable ofdirectly communicating with the dedicated communication unit of the UAV,and a second communication unit 646 connected to the first communicationunit and capable of communicating over communication network 660.

In some embodiments, the first communication unit 644 of the mobilerelay 640 may be a wireless transceiver dedicated to a communicationbetween the UAV and the mobile relay. In some instances, the wirelesstransceiver may be a Wi-Fi transceiver. Optionally, the wirelesstransceiver may be a RF (radio frequency) transceiver. Optionally, thewireless transceiver may be a private wireless transceiver. Accordingly,the dedicated communication unit 626 of the UAV 620 may be a Wi-Fitransceiver. Optionally, the dedicated communication unit may be a RF(radio frequency) transceiver. Optionally, the dedicated communicationunit may be a private wireless transceiver.

In some embodiments, the first communication unit 644 of the mobilerelay 640 may be capable of receiving a signal directly from the UAV.The signal received from the UAV may be transmitted to communicationnetwork via the second communication unit 646. In some instances, thesignal received from the UAV may include information about a multimediafile captured by the UAV. For instance, the multimedia file may beimages or videos captured by a camera onboard the UAV. Optionally, thesignal received from the UAV may include sensor data collected by one ormore sensors onboard the UAV. In some embodiments, the firstcommunication unit of the mobile relay may be capable of transmitting asignal directly to the UAV. In some instances, the signal transmitted tothe UAV may include one or more commands that effect an operation of theUAV. For instance, the one or more commands may affect a flight of theUAV or an operation of a payload of the UAV. In some instances, the oneor more commands may originate from a remote controller which isconfigured to accept a user input.

In some embodiments, the second communication unit 646 of the mobilerelay 640 may a cellular communication unit. The data received by thesecond communication unit may be transmitted to the UAV via the firstcommunication unit 644. In some instances, the second communication unitmay be configured to communicate with a remote controller over thecommunications network. Optionally, the second communication unit may beconfigured to receive one or more commands that effect operation of theUAV. For instance, a user may input UAV operation commands into a remotecontroller such as a mobile phone or a personal computer which isconnected to the communication network. The user's UAV operationcommands may be transmitted from the remote controller to the secondcommunication unit of the mobile relay through the communicationnetwork, and then to the UAV via the dedicated communication linkbetween the first communication unit of the mobile relay and thededicated communication unit of the UAV, such that the UAV may beoperated according to user's UAV operation commands. In some instances,the second communication unit may be configured to transmit informationabout a multimedia file captured by the UAV. Optionally, the secondcommunication unit may be configured to transmit sensor data collectedby one or more sensors onboard the UAV. For instance, images or videoscaptured by a camera onboard the UAV and various sensor date collectedby sensors onboard the UAV may be transmitted from the dedicatedcommunication unit of the UAV to the first communication unit of themobile relay, and then to the communication network through the secondcommunication unit of the mobile relay, such that the images and videomay be shared on a social network or viewed by the user.

By providing one or more mobile relays based on the communication signaldistribution, the UAV may communicate with the communication networkalong the entire flight path. In some instances, at locations where aquality of public communication exceeds a threshold value, the UAV maydirectly communicate with the communication network through the onboardpublic communication unit. Optionally, at locations where a quality ofpublic communication falls beneath the threshold value, the UAV maycommunicate with the communication network through the one or moremobile relays which fly within a proximity of the UAV.

In some embodiments, a flight path of the UAV may be a proposed flightpath which is scheduled before the UAV taking off. Alternatively, aflight path of the UAV may be a ransom flight path. For instance, aflight of the UAV may be controlled by a user in a real-time manner.

In some embodiments, the one or more locations of the one or more mobilerelays may change over time while the UAV is in flight. In someinstances, the one or more mobile relays may stay within a proximity ofthe UAV while the UAV is in flight. For instance, the mobile relay maystay within a certain distance from the UAV while the UAV is in flight,such that the UAV and the mobile relay may directly communicate witheach other via the dedicated link established between the dedicatedcommunication unit of the UAV and the first communication unit of themobile relay while the UAV is in flight. Optionally, the locations ofthe one or more mobile relays may permit each of the mobile relays tohave a quality of public communications signal that exceeds a thresholdvalue. For instance, the mobile relay itself may stay at a location or aregion having a good quality of cellular signal so that the mobile relaymay communicate with the cellular communication network while the UAV isin flight. Optionally, the locations of the one or more mobile relaysmay permit each of the mobile relays to have a ground communication loadfalling beneath a threshold value. For instance, the mobile relay maystay at locations or regions where a degree of congestion incommunication capacity of the cellular communication network fallsbeneath a certain value while the UAV is in flight.

In some embodiments, an identification of the UAV may be authenticatedthrough the entire flight path. In some instances, when the UAV flies atlocation where the UAV can directly communicate with the communicationnetwork, the identification of the UAV may be authenticated by checkingand confirming the identification with an authentication center on thecommunication network. For instance, if the authentication fails, theUAV may be forced to land. Optionally, when the UAV flies at locationwhere the UAV cannot directly communicate with the communicationnetwork, the identification of the UAV may be performed by one or moremobile relays which may communicate with the communication network. Forinstance, the one or more mobile relays may request an identification ofthe UAV which directly communicates with the one or more mobile relays,and send the identification of the UAV to an authentication center onthe communication network.

In some embodiments, since the UAV may directly communicate with thecommunication network or communicate with the communication network viaone or more mobile relays during the entire flight path, a user terminalwhich can directly communicate with the UAV may also communicate withthe communication network via the UAV even if the user terminal does nothave a public communication capacity. In some instances, the userterminal such as a remote controller, a personal computer, or a mobiledevice may comprise a fifth communication unit 682 which may directlycommunicate with the dedicated communication unit 426 via a dedicatedlink such as a Wi-Fi link. For instances, at locations where the UAV candirectly communicate with the cellular communication network, acommunication from the user terminal may be received by the UAV via adedicated link established between the fifth communication unit of theuser terminal and the dedicated communication unit of the UAV, and thenrelayed to the cellular communication network via a cellular linkestablished between the cellular communication unit of the UAV and thecellular communication network. Optionally, at locations where the UAVcannot directly communicate with the cellular communication network, acommunication from the user terminal may be received by the UAV via adedicated link established between the fifth communication unit of theuser terminal and the dedicated communication unit of the UAV, thenrelayed to the mobile relay via a dedicated link established between thededicated communication unit of the UAV and the first communication unitof the mobile relay, and then relayed to the cellular communicationnetwork via a cellular link established between the cellularcommunication unit of the UAV and the cellular communication network.

Alternatively, the fifth communication unit 682 of the user terminal 680may directly communicate with the first communication unit 642 of themobile relay 640. In some instances, the user terminal having no publiccommunication capacity may communicate with the mobile relay via adedicated link established between the fifth communication unit of theuser terminal and the first communication unit of the mobile relay, thenthe second communication unit 644 of the mobile relay may relay thecommunication from the user terminal to the communication network.

In some embodiments, in addition to the fifth communication unit 682which may directly communicate with the dedicated communication unit 626of the UAV via a dedicated link such as a Wi-Fi link, the user terminalmay comprise a six communication unit 684 which may communicate with thepublic communication system network. In some instances, the userterminal such as a mobile phone may receive a user's input and transmitthe user's input to the UAV via the communication network, at locationswhere the UAV can directly communicate with the communication network.For instances, a user may input a flight command to a user terminal suchas a mobile phone, the flight command may be transmitted to the cellularnetwork via a cellular link between the mobile phone and the cellularnetwork and then to the UAV via a cellular link between the cellularnetwork and the UAV. Optionally, the user terminal such as a mobilephone may receive a user's input and transmit the user's input to theUAV via the mobile relay, at locations where the UAV cannot directlycommunicate with the communication network. For instances, a user mayinput a flight command to a user terminal such as a mobile phone, theflight command may be transmitted to the cellular network via a cellularlink between the mobile phone and the cellular network, then to themobile relay via the cellular link between the cellular network and therelay, and then to the UAV via a Wi-Fi link between the mobile relay andthe UAV.

In some embodiments, the UAV 620 may communicate with the communicationnetwork 660 via the user terminal 680 which comprises the fifthcommunication unit 682 and the six communication unit 684, at locationswhere the user terminal can communicate with the communication network.The user terminal may be a remote controller, a personal computer, aserver, or a mobile device. In some embodiments, the fifth communicationunit of the user terminal may directly communicate with the dedicatedcommunication unit 626 of the UAV 620, and the six communication unit ofthe user terminal may communicate with the public communication systemnetwork. In some instances, the UAV may directly communicate with theuser terminal through a dedicated link established between the dedicatedcommunication unit of the UAV and the fifth communication unit 682, andthe user terminal may then communicate with the communication networkthough a public communication link between the six communication unit ofthe user terminal and the communication network, at locations where theuser terminal can communicate with the communication network.

In some embodiments, the UAV 620 may communicate with the communicationnetwork 660 via a second user terminal which can communicate with themobile relay, at locations where the second user terminal cancommunicate with the communication network. In some instances, as shownin FIG. 6, the second user terminal 681, which can communicate with themobile relay 640, may comprise a seventh communication unit 683 and aneighth communication unit 685. The second user terminal 681 may be aremote controller, a personal computer, a server, or a mobile device. Insome embodiments, the sixth communication unit of the second userterminal may directly communicate with the first communication unit 644of the mobile relay 642, and the eighth communication unit of the seconduser terminal may communicate with the public communication systemnetwork. In some instances, the UAV may directly communicate with themobile relay through a dedicated link established between the dedicatedcommunication unit of the UAV and the first communication unit 644, andthe mobile relay may then communicate with the second user terminal 681through a dedicated link established between the first communicationunit of the mobile relay and the seventh communication unit 683 of thesecond user terminal, and then the user terminal may communicate withcommunication network though a public communication link between theeighth communication unit of the second user terminal and thecommunication network, at locations where the second user terminal 681can communicate with the communication network.

As discussed hereinabove, the UAV may communicate with the communicationnetwork without a relay of the one or more mobile relays if the UAV candirectly communicate with the communication network or the UAV cancommunicate with the communication network via the user terminal. Insome instances, the user terminal may be a device which can directlycommunicate with the UAV through a dedicated communication link otherthan a public communication link.

As discussed hereinabove, the UAV may communicate with the communicationnetwork via a relay of the one or more mobile relays if the UAV cancommunicate with the communication network via one or more mobile relaysonly or the UAV can communicate with the communication network via theone or more mobile relays and the second user terminal. In someinstances, the second user terminal may be a device which can directlycommunicate with the mobile relays through a dedicated communicationlink other than a public communication link.

FIG. 7 is a flow chart illustrating a method of providing communicationcoverage to an unmanned aerial vehicle (UAV) by one or more mobilerelays, in accordance with embodiments of the invention. In someembodiments, a location of the UAV may be collected while the UAV is inflight, a communication signal distribution in a proximity of the UAVmay be determined, and one or more locations for providing one or moremobile relays may be determined based on the communication signaldistribution, while the UAV is in flight. In some embodiments, themethod 700 of providing communication coverage to UAV may be performedby a system or a single apparatus such as another UAV.

In step 702, a location of the UAV may be collected while the UAV is inflight. In some embodiment, the location information of the UAV may becollected from a GPS (Global Positioning System) module onboard the UAV.Alternatively, the location information of the UAV may be collected byone or more mobile relays which may follow the UAV while the UAV is inflight. Alternatively, the location information of the UAV may becollected from a proposed or scheduled flight path of the UAV.Optionally, the location information of the UAV may be collected by userterminals such as a radar.

In step 704, a communication signal distribution in a proximity of theUAV may be determined. In some embodiments, the communication signaldistribution may be a quality of cellular signal in a proximity of theUAV. Alternatively, the communication signal distribution may be adegree of congestion in communication capacity in a proximity of theUAV.

In some embodiments, determining a communications signal distribution ina proximity of the UAV may include detecting a quality of communicationsnetwork in a proximity of the UAV. In some instances, the quality ofcommunications network in a proximity of the UAV may be detected by oneor more mobile relays which may follow the UAV while the UAV is inflight.

Alternatively, determining a communications signal distribution in aproximity of the UAV may include incorporating past experience datacollective from other UAVs. Alternatively, determining a communicationssignal distribution in a proximity of the UAV includes incorporatingpast experience data collective from a communication service provider.For instance, the information about a communications signal distributionmay be received from an online enquiry system. The online enquiry systemmay be an information sharing platform for sharing past communicationsignal distribution information associated with locations, which may becollected from past flights of UAVs or past experience data collectivefrom a communication service provider.

Optionally, determining a communications signal distribution in aproximity of the UAV includes determining the communications signaldistribution based on real-time notice from a communication serviceprovider. In some instances, the communication signal distribution at alocation may vary. For instance, a quality of communication signal at alocation may vary due to a weather change. For another instance, adegree of congestion in communication capacity at a particular locationmay vary due to a change in a number of communication users at thislocation. In some embodiments, a change in the communication signaldistribution at a particular location or along a flight path may bedetermined based on real-time notice from a communication serviceprovider.

In step 706, one or more locations for providing one or more mobilerelays may be determined based on the communication signal distribution,while the UAV is in flight. In some embodiments, the mobile relay may bean aerial vehicle such as a UAV which comprises a public communicationunit and a dedicated communication unit. In some embodiments, the one ormore mobile relays may be disposed at fixed locations where a quality ofpublic communications signal exceeds a threshold value for the one ormore mobile relays and a signal coverage of the one or more relays maycover one or more areas where a quality of the public communicationssignal is below a threshold value for the UAV. For instance, the one ormore mobile relays may be provided at fixed locations as determined andmay not fly around, and provide a cellular communication relay for theUAV while the UAV is flying within a region where the UAV cannotdirectly communicate with the cellular communication system.Alternatively, the one or more mobile relays may be movable over one ormore aerial paths. For instance, a mobile relay may fly along an aerialpath in order to follow the UAV within a range of the aerial path, andprovide a cellular communication relay for the UAV while the UAV isflying within a region where the UAV cannot directly communicate withthe cellular communication system. Within the range of the aerial path,the mobile relays may directly communicate with the public communicationsystem.

In some embodiments, the one or more mobile relays may be provided at analtitude lower than the UAV. Alternatively, the one or more mobilerelays may be provided at an altitude substantially identical to theUAV. Optionally, the one or more mobile relays may be provided at analtitude higher than the UAV. In some embodiments, the one or moremobile relays may be provided at a location ahead of the UAV while theUAV is in flight. Alternatively, the one or more mobile relays may beprovided at a location behind of the UAV while the UAV is in flight.Optionally, the one or more mobile relays may be provided at a locationat a lateral side of the UAV while the UAV is in flight.

In some embodiments, each of the one or more mobile relays may provide(1) a first communication mode capable of directly communicating withthe UAV and (2) a second communication mode capable of communicatingover a communication network, to improve communications signaldistribution along a flight path of the UAV. At a location where the UAVcannot directly communicate with the communication network, more thanone mobile relays may be provided to cover a larger region where themore than one mobile relays may provide relay of public communication tothe UAV.

In some embodiments, the method 700 of providing communication coverageto an unmanned aerial vehicle (UAV) by one or more mobile relays mayfurther comprise determining whether the UAV is capable ofcommunications over the communication network at a predetermined levelof quality based on the communication signal distribution. In someinstances, when the UAV is capable of communications over thecommunication network at the predetermined level of quality, the UAV maybe permitted to communicate over the communication network without usingthe one or more mobile relays. Optionally, when the UAV is not capableof communications over the communication network at the predeterminedlevel of quality, the UAV may be permitted to communicate with the firstcommunication unit of the one or more mobile relays. The firstcommunication unit of the mobile relay may be a dedicated communicationunit which can establish a dedicated link with the UAV.

In some embodiments, the method 700 of providing communication coverageto an unmanned aerial vehicle (UAV) by one or more mobile relays mayfurther comprise determining whether the UAV is capable of directcommunications with a remote controller at a predetermined level ofquality. In some instances, when the UAV is capable of directlycommunicating with the remote controller at the predetermined level ofquality, the UAV may be permitted to communicate directly with theremote controller without using the one or more relays. Optionally, whenthe UAV is not capable of directly communicating with the remotecontroller at the predetermined level of quality, the UAV may bepermitted to communicate with the first communication unit of the one ormore relays. For instance, a user terminal as shown in FIG. 6 may relaya communication from the UAV to the public communication system when theUAV is capable of directly communicating with the user terminal at thepredetermined level of quality and the user terminal can communicatewith the public communication system, as discussed hereinabove.

FIG. 8 shows a block diagram of a relay device of relayingcommunications from an unmanned aerial vehicle (UAV), in accordance withsome embodiments of the invention. In some embodiments, the relay device820 may relay communications from an unmanned aerial vehicle (UAV) to acommunication network. In some instances, the relay device may be astationary relay device. Optionally, the relay device may be a movablerelay device such as a relay device carried on a movable vehicle.Optionally, the relay device may be a mobile relay device such asanother UAV.

In some embodiments, the relay device 820 may comprise a firstcommunication unit 822 and a second communication unit 824 which isconnected to the first communication unit. In some embodiments, thefirst communication unit may be configured to receive a wireless signaldirectly from the UAV. The wireless signal received from the UAV mayconvey a digital file information such as image or video captured by acamera onboard the UAV or sensor data collected by various sensorsonboard the UAV. In some instances, the first communication unit may bea wireless transceiver dedicated to communication between the UAV andthe relay device, such as a Wi-Fi transceiver. In some embodiments, thesecond communication unit may be configured to transmit a publiccommunication signal over a public network. The public communicationsignal may convey the digital file information. In some embodiments, thecommunication network may be a cellular network, and the secondcommunication unit may be a cellular communication unit.

In some embodiments, a remote controller may be configured to receivethe public communication signal from the public network. In someinstances, the remote controller may be configured to accept a userinput that generates a UAV operation command. For instance, the remotecontroller may be a server, a personal computer, or a mobile terminal.

FIG. 9 is a flow chart illustrating a method of relaying communicationsfrom an unmanned aerial vehicle (UAV), in accordance with embodiments ofthe invention.

In some embodiments, in step 902, a wireless signal directly from theUAV may be received at a first communication unit of a relay device. Insome embodiments, in step 904, a communications signal over a publicnetwork may be transmitted via a second communication unit of the relaydevice. In some embodiments, the communications signal may conveys thewireless signal.

FIG. 10 shows a block diagram of a relay device of relayingcommunications to an unmanned aerial vehicle (UAV), in accordance withsome embodiments of the invention. In some embodiments, the relay device1020 may relay communications from a communication network to anunmanned aerial vehicle (UAV). In some instances, the relay device maybe a stationary relay device. Optionally, the relay device may be amovable relay device such as a relay device carried on a movablevehicle. Optionally, the relay device may be a mobile relay device suchas another UAV.

In some embodiments, the relay device 1020 may comprise a secondcommunication unit 1024 and a first communication unit 1022 which isconnected to the second communication unit. In some embodiments, thesecond communication unit may be configured to receive a publiccommunication signal from over a public network. In some instances, thepublic network may be a communications network. For instance, thecommunication network may be a cellular network, and the secondcommunication unit may be a cellular communication unit. In someembodiments, the first communication unit may be a wireless transceiverdedicated to communication between the UAV and the relay device, such asa Wi-Fi transceiver.

In some embodiments, the public communication signal may convey a UAVoperation command. In some instances, the UAV operation command mayaffect a flight of the UAV. Optionally, the UAV operation command mayaffect an operation of a payload carried by the UAV. Optionally, the UAVoperation command may affect a positioning of a payload carried by theUAV, relative to the UAV. For instances, the UAV operation command mayaffect a rotation of a gimbal carried by the UAV. In some embodiments, aremote controller may be configured to receive a user input thatgenerates the UAV operation command.

FIG. 11 is a flow chart illustrating a method of relaying communicationsto an unmanned aerial vehicle (UAV), in accordance with embodiments ofthe invention.

In some embodiments, in step 1102, a communications signal from over apublic network may be received at a second communication unit of a relaydevice. In some instances, the communications signal may convey a UAVoperation command. In some embodiments, in step 1104, a wireless signaldirectly to the UAV, said wireless signal conveying the UAV operationcommand may be transmitted via a first communication unit of the relaydevice.

The systems, devices, and methods described herein can be applied to awide variety of objects, including movable objects and stationaryobjects. As previously mentioned, any description herein of an aerialvehicle, such as a UAV, may apply to and be used for any movable object.Any description herein of an aerial vehicle may apply specifically toUAVs. A movable object of the present invention can be configured tomove within any suitable environment, such as in air (e.g., a fixed-wingaircraft, a rotary-wing aircraft, or an aircraft having neither fixedwings nor rotary wings), in water (e.g., a ship or a submarine), onground (e.g., a motor vehicle, such as a car, truck, bus, van,motorcycle, bicycle; a movable structure or frame such as a stick,fishing pole; or a train), under the ground (e.g., a subway), in space(e.g., a spaceplane, a satellite, or a probe), or any combination ofthese environments. The movable object can be a vehicle, such as avehicle described elsewhere herein. In some embodiments, the movableobject can be carried by a living subject, or take off from a livingsubject, such as a human or an animal. Suitable animals can includeavines, canines, felines, equines, bovines, ovines, porcines, delphines,rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six degrees of freedom (e.g., three degreesof freedom in translation and three degrees of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more degrees of freedom, such as by apredetermined path, track, or orientation. The movement can be actuatedby any suitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be an aerial vehicle. Forexample, aerial vehicles may be fixed-wing aircraft (e.g., airplane,gliders), rotary-wing aircraft (e.g., helicopters, rotorcraft), aircrafthaving both fixed wings and rotary wings, or aircraft having neither(e.g., blimps, hot air balloons). An aerial vehicle can beself-propelled, such as self-propelled through the air. A self-propelledaerial vehicle can utilize a propulsion system, such as a propulsionsystem including one or more engines, motors, wheels, axles, magnets,rotors, propellers, blades, nozzles, or any suitable combinationthereof. In some instances, the propulsion system can be used to enablethe movable object to take off from a surface, land on a surface,maintain its current position and/or orientation (e.g., hover), changeorientation, and/or change position.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. The movableobject may be controlled remotely via an occupant within a separatevehicle. In some embodiments, the movable object is an unmanned movableobject, such as a UAV. An unmanned movable object, such as a UAV, maynot have an occupant onboard the movable object. The movable object canbe controlled by a human or an autonomous control system (e.g., acomputer control system), or any suitable combination thereof. Themovable object can be an autonomous or semi-autonomous robot, such as arobot configured with an artificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, altitude, diameter, diagonal) of lessthan or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10m. The maximum dimension may be greater than or equal to about: 2 cm, 5cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distancebetween shafts of opposite rotors of the movable object may be less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 12 illustrates an unmanned aerial vehicle (UAV) 1200, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein, to which the method and apparatusof discharging a battery assembly may be applied. The UAV 1200 caninclude a propulsion system having four rotors 1202, 1204, 1206, and1208. Any number of rotors may be provided (e.g., one, two, three, four,five, six, or more). The rotors, rotor assemblies, or other propulsionsystems of the unmanned aerial vehicle may enable the unmanned aerialvehicle to hover/maintain position, change orientation, and/or changelocation. The distance between shafts of opposite rotors can be anysuitable length 1210. For example, the length 1210 can be less than orequal to 2 m, or less than equal to 5 m. In some embodiments, the length1210 can be within a range from 40 cm to 1 m, from 10 cm to 2 m, or from5 cm to 5 m. Any description herein of a UAV may apply to a movableobject, such as a movable object of a different type, and vice versa.The UAV may use an assisted takeoff system or method as describedherein.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for a movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 13 illustrates a movable object 1300 including a carrier 1302 and apayload 1304, in accordance with embodiments of the present invention.Although the movable object 1300 is depicted as an aircraft, thisdepiction is not intended to be limiting, and any suitable type ofmovable object can be used, as previously described herein. One of skillin the art would appreciate that any of the embodiments described hereinin the context of aircraft systems can be applied to any suitablemovable object (e.g., an UAV). In some instances, the payload 1304 maybe provided on the movable object 1300 without requiring the carrier1302. The movable object 1300 may include propulsion mechanisms 1306, asensing system 1308, and a communication system 1310.

The propulsion mechanisms 1306 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1306 can be mounted on the movableobject 1300 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1306 can be mounted on any suitable portion of the movable object 1300,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1306 can enable themovable object 1300 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1300 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1306 can be operable to permit the movableobject 1300 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1300 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1300 can be configured to becontrolled simultaneously. For example, the movable object 1300 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1300. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1300 (e.g., with respect to up to three degrees oftranslation and up to three degrees of rotation).

The sensing system 1308 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1300 (e.g., with respect to up to three degrees of translationand up to three degrees of rotation). The one or more sensors caninclude global positioning system (GPS) sensors, motion sensors,inertial sensors, proximity sensors, or image sensors. The sensing dataprovided by the sensing system 1308 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1300(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1308 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1310 enables communication with terminal 1312having a communication system 1314 via wireless signals 1316. Thecommunication systems 1310, 1314 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1300 transmitting data to theterminal 1312, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1310 to one or morereceivers of the communication system 1312, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1300 and the terminal 1312. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1310 to one or more receivers of the communication system 1314,and vice-versa.

In some embodiments, the terminal 1312 can provide control data to oneor more of the movable object 1300, carrier 1302, and payload 1304 andreceive information from one or more of the movable object 1300, carrier1302, and payload 1304 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1306), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1302).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1308 or of the payload 1304). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1312 can be configured tocontrol a state of one or more of the movable object 1300, carrier 1302,or payload 1304. Alternatively or in combination, the carrier 1302 andpayload 1304 can also each include a communication module configured tocommunicate with terminal 1312, such that the terminal can communicatewith and control each of the movable object 1300, carrier 1302, andpayload 1304 independently.

In some embodiments, the movable object 1300 can be configured tocommunicate with another remote device in addition to the terminal 1312,or instead of the terminal 1312. The terminal 1312 may also beconfigured to communicate with another remote device as well as themovable object 1300. For example, the movable object 1300 and/orterminal 1312 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1300, receivedata from the movable object 1300, transmit data to the terminal 1312,and/or receive data from the terminal 1312. Optionally, the remotedevice can be connected to the Internet or other communications network,such that data received from the movable object 1300 and/or terminal1312 can be uploaded to a website or server.

FIG. 14 is a schematic illustration by way of block diagram of a system1400 for controlling a movable object, in accordance with embodiments ofthe present invention. The system 1400 can be used in combination withany suitable embodiment of the systems, devices, and methods disclosedherein. The system 1400 can include a sensing module 1402, processingunit 1404, non-transitory computer readable medium 1406, control module1408, and communication module 1410.

The sensing module 1402 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1402 can beoperatively coupled to a processing unit 1404 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1412 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1412 canbe used to transmit images captured by a camera of the sensing module1402 to a remote terminal.

The processing unit 1404 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1404 can be operatively coupled to a non-transitorycomputer readable medium 1406. The non-transitory computer readablemedium 1406 can store logic, code, and/or program instructionsexecutable by the processing unit 1404 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1402 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1406. Thememory units of the non-transitory computer readable medium 1406 canstore logic, code and/or program instructions executable by theprocessing unit 1404 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1404 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1404 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1404. In some embodiments, thememory units of the non-transitory computer readable medium 1406 can beused to store the processing results produced by the processing unit1404.

In some embodiments, the processing unit 1404 can be operatively coupledto a control module 908 configured to control a state of the movableobject. For example, the control module 908 can be configured to controlthe propulsion mechanisms of the movable object to adjust the spatialdisposition, velocity, and/or acceleration of the movable object withrespect to six degrees of freedom. Alternatively or in combination, thecontrol module 1408 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1404 can be operatively coupled to a communicationmodule 1410 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1410 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, communication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1410 can transmit and/or receive one or more of sensing data from thesensing module 1402, processing results produced by the processing unit1404, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1400 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1400 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 14 depicts asingle processing unit 1404 and a single non-transitory computerreadable medium 1406, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1400 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 900 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A method of providing communication coverage toan unmanned aerial vehicle (UAV), said method comprising: collecting aproposed flight path of the UAV; determining a communication signaldistribution along the proposed flight path of the UAV, thecommunication signal distribution being collected by another aerialvehicle flying along the proposed flight path; and determining, based onthe communication signal distribution, one or more locations along theproposed flight path of the UAV for arranging one or more relays, toprovide communication coverage in one or more areas where a quality ofcommunication signal is beneath a threshold value and/or where anavailable bandwidth for the UAV is beneath a threshold value.
 2. Themethod of claim 1, further comprising modifying the proposed flight pathof the UAV.
 3. The method of claim 1, wherein determining thecommunication signal distribution further includes incorporating pastexperience data collected from other UAVs.
 4. The method of claim 1,wherein determining the communication signal distribution furtherincludes incorporating past experience data collected from acommunication service provider or receiving a preset setting of acommunication service provider.
 5. The method of claim 1, wherein theone or more relays include one or more mobile relays, the method furthercomprising: arranging at least one of the one or more mobile relayswithin a certain distance from the UAV while the UAV is in flight.
 6. Anapparatus for providing communication coverage to an unmanned aerialvehicle (UAV), said apparatus comprising: one or more processorsconfigured to, individually or collectively: collect a proposed flightpath of the UAV; determine a communication signal distribution along theproposed flight path of the UAV, the communication signal distributionbeing collected by another aerial vehicle flying along the proposedflight path; and generate, based on the communication signaldistribution, signals for arranging one or more relays at one or morelocations along the proposed flight path to provide communicationcoverage in one or more areas where a quality of communication signal isbeneath a threshold value and/or where an available bandwidth for theUAV is beneath a threshold value.
 7. The apparatus of claim 6, whereineach of the one or more relays comprises (1) a first communication unitcapable of directly communicating with the UAV and (2) a secondcommunication unit capable of communicating over a telecommunicationnetwork or a wired communication network.
 8. The apparatus of claim 7,wherein a plurality of the relays communicate with each other via thesecond communication units.
 9. The apparatus of claim 6, wherein acommunication between the UAV and a telecommunication network switchesto a communication between the UAV and the one or more relays when theUAV fails to receive a predetermined amount of communication resourcefrom the telecommunication network.
 10. The apparatus of claim 6,wherein the communication signal distribution further includes pastexperience data collected from other UAVs.
 11. The apparatus of claim 6,wherein the communication signal distribution further includes pastexperience data collected from a communication service provider or apreset setting received from a communication service provider.
 12. Theapparatus of claim 6, wherein the communication signal distributionincludes a quality of telecommunication network signal along theproposed flight path of the UAV.
 13. A system for providingcommunication coverage to an unmanned aerial vehicle (UAV), said systemcomprising: an aerial vehicle different from the UAV and configured tocollect a communication signal distribution along a proposed flight pathof the UAV; and a device configured to determine, based on thecommunication signal distribution, one or more locations along theproposed flight path of the UAV for arranging one or more relay devices,to provide communication coverage in one or more areas where a qualityof communication signal is beneath a threshold value and/or where anavailable bandwidth for the UAV is beneath a threshold value.
 14. Thesystem of claim 13, wherein the communication signal distributionfurther includes past experience data collected from other UAVs.
 15. Thesystem of claim 13, wherein the communication signal distributionfurther includes past experience data collected from a communicationservice provider or a preset setting received from a communicationservice provider.
 16. The system of claim 13, wherein the communicationsignal distribution further includes a signal distribution determinedbased on real-time notice from a communication service provider.
 17. Thesystem of claim 13, wherein the communication signal distributionincludes a quality of telecommunication network signal along theproposed flight path of the UAV.